3 papers
cs.CV2024
CaRtGS: Computational Alignment for Real-Time Gaussian Splatting SLAM
Dapeng Feng, Zhiqiang Chen, Yizhen Yin +3
Simultaneous Localization and Mapping (SLAM) is pivotal in robotics, with photorealistic scene reconstruction emerging as a key challenge. To address this, we introduce Computation…
cs.RO2024
RELEAD: Resilient Localization with Enhanced LiDAR Odometry in Adverse Environments
Zhiqiang Chen, Hongbo Chen, Yuhua Qi +5
LiDAR-based localization is valuable for applications like mining surveys and underground facility maintenance. However, existing methods can struggle when dealing with uninformati…
cs.RO2024
CoLRIO: LiDAR-Ranging-Inertial Centralized State Estimation for Robotic Swarms
Shipeng Zhong, Hongbo Chen, Yuhua Qi +5
Collaborative state estimation using different heterogeneous sensors is a fundamental prerequisite for robotic swarms operating in GPS-denied environments, posing a significant res…